apogee 配置文件注解

电子虫

文件位置：paparazzi/conf/airframes/ENAC/fixed-wing/apogee.xml

机身系统文件类型模板	<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
	<!--
备注	Apogee test board
机身名定义起始	<airframe name="Apogee">
固件类型 定义起始	<firmware name="fixedwing">
	<configure name="RTOS_DEBUG" value="1"/>
编译固件目标定义	<target name="ap" board="apogee_1.0_chibios">
	<module name="radio_control" type="sbus"/>
	<configure name="PERIODIC_FREQUENCY" value="100"/>
	</target>
编译模拟目标定义	<target name="sim" board="pc">
	<module name="radio_control" type="ppm"/>
	</target>
	<define name="USE_I2C1"/>
	<!--define name="USE_I2C2"/-->
	<!--define name="AGR_CLIMB"/-->
	<!--define name="LOITER_TRIM"/-->
	<!--define name="PITCH_TRIM"/-->
	<!-- Communication -->
	<module name="telemetry" type="xbee_api"/>
	<module name="tlsf"/>
	<module name="pprzlog"/>
	<module name="logger" type="sd_chibios"/>
	<module name="flight_recorder"/>
	<!-- Actuators are automatically chosen according to board-->
	<module name="imu"     type="apogee"/>
	<module name="ahrs"    type="float_dcm"/>
	<module name="ins"     type="alt_float"/>
	<module name="control"/>
	<module name="navigation"/>
	<!-- Sensors -->
	<module name="gps" type="ublox"/>
	<!--module name="sys_mon"/-->
	<!--module name="spi_master"/-->
	<!-- <module name="mcp355x"> -->
	<!--   <define name="USE_SPI1"/> -->
	<!-- </module> -->
	<!--module name="extra_dl">
	<configure name="EXTRA_DL_PORT" value="UART6"/>
	<configure name="EXTRA_DL_BAUD" value="B57600"/>
	</module>
	<module name="meteo_france_DAQ"/-->
固件类型 定义结束	</firmware>
	<firmware name="test_chibios">
	<target name="test_sys_time_timer"  board="apogee_1.0_chibios"/>
	<target name="test_led"             board="apogee_1.0_chibios"/>
	<target name="test_sys_gpio"        board="apogee_1.0_chibios"/>
	</firmware>
	<!-- commands section -->
伺服输出通道	<servos>
	<servo name="MOTOR" no="0" min="1040" neutral="1040" max="2000"/>
	<servo name="AILEVON_LEFT" no="1" min="1900" neutral="1543" max="1100"/>
	<servo name="AILEVON_RIGHT" no="2" min="1100" neutral="1561" max="1900"/>
	</servos>
固定翼三轴控制设定	<commands>
油门安全保护值设定	<axis name="THROTTLE" failsafe_value="0"/>
横滚安全保护值设定	<axis name="ROLL" failsafe_value="0"/>
俯仰安全保护值设定	<axis name="PITCH" failsafe_value="0"/>
	</commands>
手动控制设定	<rc_commands>
	<set command="THROTTLE" value="@THROTTLE"/>
	<set command="ROLL" value="@ROLL"/>
	<set command="PITCH" value="@PITCH"/>
	</rc_commands>
混控设置	<section name="MIXER">
	<define name="AILEVON_AILERON_RATE" value="0.75"/>
	<define name="AILEVON_ELEVATOR_RATE" value="0.75"/>
	</section>
控制率设置	<command_laws>
	<let var="aileron" value="@ROLL  * AILEVON_AILERON_RATE"/>
	<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
	<set servo="MOTOR" value="@THROTTLE"/>
	<set servo="AILEVON_LEFT" value="$elevator - $aileron"/>
	<set servo="AILEVON_RIGHT" value="$elevator + $aileron"/>
	</command_laws>
自动1状态设定	<section name="AUTO1" prefix="AUTO1_">
	<define name="MAX_ROLL" value="0.85"/>
	<define name="MAX_PITCH" value="0.6"/>
	</section>
IMU 设定	<section name="IMU" prefix="IMU_">
	<!-- Calibration Neutral -->
陀螺三轴中立位设定	<define name="GYRO_P_NEUTRAL" value="0"/>
	<define name="GYRO_Q_NEUTRAL" value="0"/>
	<define name="GYRO_R_NEUTRAL" value="0 "/>
加速度三轴中立位设定	<define name="ACCEL_X_NEUTRAL" value="0"/>
	<define name="ACCEL_Y_NEUTRAL" value="0"/>
	<define name="ACCEL_Z_NEUTRAL" value="0"/>
机身和IMU偏差修正	<define name="BODY_TO_IMU_PHI" value="0"/>
	<define name="BODY_TO_IMU_THETA" value="0"/>
	<define name="BODY_TO_IMU_PSI" value="0"/>
	</section>

电子虫

<section name="INS" prefix="INS_">
	<define name="ROLL_NEUTRAL_DEFAULT" value="0." unit="rad"/>
	<define name="PITCH_NEUTRAL_DEFAULT" value="0.144" unit="rad"/>
	</section>
	<section name="BAT">
	<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
	<define name="MilliAmpereOfAdc(_adc)" value="(_adc-158)*16.5698"/>
	</section>
	<section name="MISC">
	<define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
	<define name="CARROT" value="5." unit="s"/>
	<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
	<define name="TRIGGER_DELAY" value="1."/>
	<define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
	<define name="UNLOCKED_HOME_MODE" value="TRUE"/>
	</section>

电子虫

<section name="VERTICAL CONTROL" prefix="V_CTL_">
	<define name="ALTITUDE_PGAIN" value="0.18"/> <!-- 0.024 -->
	<!-- outer loop saturation -->
	<define name="ALTITUDE_MAX_CLIMB" value="5."/>
	<!-- Cruise throttle + limits -->
	<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.45"/>
	<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
	<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
	<define name="AUTO_PITCH_MAX_PITCH" value="RadOfDeg(20.)"/>
	<define name="AUTO_PITCH_MIN_PITCH" value="-RadOfDeg(20.)"/>
	<!-- Climb loop (throttle) -->
	<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/>
	<define name="AUTO_THROTTLE_PGAIN" value="0.002"/> <!-- 0.005 -->
	<define name="AUTO_THROTTLE_DGAIN" value="0.0"/> <!-- 0.005 -->
	<define name="AUTO_THROTTLE_IGAIN" value="0.004"/> <!-- 0.005 -->
	<!-- Climb loop (pitch) -->
	<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.03"/>
	<define name="AUTO_PITCH_PGAIN" value="0.04"/> <!-- 0.03 -->
	<define name="AUTO_PITCH_DGAIN" value="0.04"/> <!-- 0.03 -->
	<define name="AUTO_PITCH_IGAIN" value="0.0"/>
	<!-- airspeed control -->
	<define name="AUTO_AIRSPEED_SETPOINT" value="16."/>
	<define name="AUTO_AIRSPEED_THROTTLE_PGAIN" value="0.1"/>
	<define name="AUTO_AIRSPEED_THROTTLE_DGAIN" value="0.12"/>
	<define name="AUTO_AIRSPEED_THROTTLE_IGAIN" value="0.0"/>
	<define name="AUTO_AIRSPEED_PITCH_PGAIN" value="0.06"/>
	<define name="AUTO_AIRSPEED_PITCH_DGAIN" value="0.0"/>
	<define name="AUTO_AIRSPEED_PITCH_IGAIN" value="0.042"/>
	<define name="AIRSPEED_MAX" value="30"/>
	<define name="AIRSPEED_MIN" value="10"/>
	<!-- groundspeed control -->
	<define name="AUTO_GROUNDSPEED_SETPOINT" value="15"/>
	<define name="AUTO_GROUNDSPEED_PGAIN" value="1."/>
	<define name="AUTO_GROUNDSPEED_IGAIN" value="0."/>
	<!-- pitch trim --> <!-- 5 deg -->
	<define name="PITCH_LOITER_TRIM" value="RadOfDeg(0.)"/>
	<define name="PITCH_DASH_TRIM" value="RadOfDeg(-0.)"/>
	<define name="THROTTLE_SLEW" value="0.1"/>
	</section>

电子虫

<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
	<define name="COURSE_PGAIN" value="0.7"/>
	<define name="ROLL_MAX_SETPOINT" value="0.8" unit="radians"/>
	<define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
	<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
	<define name="ROLL_ATTITUDE_GAIN" value="8800."/>
	<define name="ROLL_RATE_GAIN" value="500."/>
	<define name="ROLL_IGAIN" value="150."/>
	<define name="ROLL_KFFA" value="0"/>
	<define name="ROLL_KFFD" value="0"/>
	<define name="PITCH_PGAIN" value="14000."/>
	<define name="PITCH_DGAIN" value="0."/>
	<define name="PITCH_IGAIN" value="250."/>
	<define name="PITCH_KFFA" value="0."/>
	<define name="PITCH_KFFD" value="0."/>
	<define name="PITCH_OF_ROLL" value="RadOfDeg(0.0)"/>
	<define name="AILERON_OF_THROTTLE" value="0.0"/>
	<define name="ELEVATOR_OF_ROLL" value="1400"/>
	</section>
	<section name="NAV">
	<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
	</section>
	<section name="FAILSAFE" prefix="FAILSAFE_">
	<define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
	<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
	<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
	<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
	<define name="HOME_RADIUS" value="100" unit="m"/>
	</section>
	<section name="SIMU">
	<!--define name="ROLL_RESPONSE_FACTOR" value="10"/>
	<define name="MAX_ROLL_DOT" value="20" unit="rad/s"/-->
	</section>
	</airframe>